Simultaneous Localisation and Map-Building Using Active Vision
نویسندگان
چکیده
Abstract— An active approach to sensing can provide the focused measurement capability over a wide field of view which allows correctly formulated Simultaneous Localisation and Map-Building (SLAM) to be implemented with vision, permitting repeatable long-term localisation using only naturally occurring, automatically-detected features. In this paper we present the first example of a general system for autonomous localisation using active vision, enabled here by a high-performance stereo head, addressing such issues as uncertainty-based measurement selection, automatic map-maintenance and goal-directed steering. We present varied real-time experiments in a complex environment. Keywords— Active Vision, Simultaneous Localisation and Map-Building, Mobile Robots.
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3D Simultaneous Localisation and Map-Building Using Active Vision for a Robot Moving on Undulating Terrain - Media File Included
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